US20140358374A1 - Method and apparatus for controlling steering when failure occurs in motor position sensor - Google Patents

Method and apparatus for controlling steering when failure occurs in motor position sensor Download PDF

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Publication number
US20140358374A1
US20140358374A1 US14/288,847 US201414288847A US2014358374A1 US 20140358374 A1 US20140358374 A1 US 20140358374A1 US 201414288847 A US201414288847 A US 201414288847A US 2014358374 A1 US2014358374 A1 US 2014358374A1
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United States
Prior art keywords
steering
vehicle
steering angle
control
driver
Prior art date
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Abandoned
Application number
US14/288,847
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English (en)
Inventor
Seung Gyu Hong
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HL Mando Corp
Original Assignee
Mando Corp
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Filing date
Publication date
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Assigned to MANDO CORPORATION reassignment MANDO CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HONG, SEUNG GYU
Publication of US20140358374A1 publication Critical patent/US20140358374A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

Definitions

  • the present invention relates to a steering control method and a steering control apparatus for controlling steering when a failure occurs in a motor position sensor.
  • a vehicle may be made to travel to a destination without relying on a driver's steering but with the help of various sensors installed inside and outside of the vehicle, an electronic map input to a computer, and a Global Positioning System (GPS) using a satellite.
  • GPS Global Positioning System
  • the vehicle is supplied with a steering force only from a steering force supply apparatus equipped in the vehicle such as an electric motor, rather than being controlled by the driver's steering force.
  • an aspect of the present invention is to provide a steering control method, in which, when a failure occurs in a motor position sensor of a vehicle which is traveling according to an automatic traveling control, the traveling state of the vehicle is determined so as to determine whether it is a situation where a steering angle should be fixed, then a steering angle fixing control is performed according to the determination result, and, when it is determined that the driver has a will to steer the vehicle, the steering angle fixing control is stopped so that the vehicle may be controlled to travel according to the driver's steering.
  • a steering control apparatus including: a failure determination unit configured to determine whether a failure occurs in a motor position sensor that detects a rotation position of a rotor of a motor which supplies a steering force for a vehicle which is traveling according to an automatic traveling control; a vehicle traveling state determination unit configured to determine the traveling state of the vehicle so as to determine whether a steering angle should be fixed when it is determined that a failure occurs in the motor position sensor; a steering angle fixing control unit configured to perform a steering angle fixing control so as to fix the steering angle by controlling the driving of the motor when it is determined that it is a situation where the steering angle should be fixed; and a vehicle control unit configured to determine whether a driver has a will to steer and, when it is determined that the driver has the will to steer, to perform a control so as to stop the steering angle fixing control such that the vehicle travels based on the driver's steering.
  • a steering control method including: a failure determination step of determining whether a failure occurs in a motor position sensor that detects a rotation position of a rotor of a motor which supplies a steering force for a vehicle which is traveling according to an automatic traveling control; a vehicle traveling state determination step of determining the traveling state of the vehicle so as to determine whether it is a situation where a steering angle should be fixed when it is determined that a failure occurs in the motor position sensor; a steering angle fixing control step of performing a steering angle fixing control so as to fix the steering angle by controlling the driving of the motor when it is determined that it is the situation where the steering angle should be fixed; and a vehicle control step of determining whether a driver has a will to steer and, when it is determined that the driver has the will to steer, performing a control so as to stop the steering angle fixing control such that the vehicle travels based on the driver's steering.
  • a steering angle fixing control may be performed and, when it is determined that the driver has a will to steer, the steering angle fixing control may be stopped such that the vehicle may be controlled to travel according to the driver's steering.
  • the steering angle may be fixed until the driver recognizes the failure and performs a steering control for the vehicle.
  • the driver's attentiveness is lowered, it is possible to prevent an accident such as deviation of the traveling vehicle from a traveling path.
  • FIG. 1 is a block diagram of a steering control apparatus according to an exemplary embodiment of the present invention
  • FIG. 2 is a view exemplifying that a vehicle traveling state determination unit according to an exemplary embodiment of the present invention receives an input of information from a sensor so as to determine whether to turn a vehicle or not;
  • FIG. 3 is a view specifically illustrating that the vehicle traveling state determination unit according to the exemplary embodiment of the present invention determines whether it is a situation where a steering angle should be fixed;
  • FIGS. 4A and 4B are views exemplifying the traveling of a vehicle during turning before and after performing a steering angle fixing control by the steering control apparatus according to the exemplary embodiment of the present invention
  • FIGS. 5A and 5B are views exemplifying that the vehicle control unit according to the exemplary embodiment of the present invention determines whether a driver has a will to steer;
  • FIG. 6 is a flowchart of a steering control method according to an exemplary embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating the steering control method according to the exemplary embodiment of the present invention in more detail.
  • the present invention discloses a steering control apparatus and a steering control method for securing traveling stability of a vehicle when a failure occurs in a motor position sensor of the vehicle while the vehicle is traveling according to an automatic travel control.
  • FIG. 1 is a block diagram of a steering control apparatus 100 according to an exemplary embodiment of the present invention.
  • a steering control apparatus 100 may include: a failure determination unit 110 configured to determine whether a failure occurs in a motor position sensor 150 that detects a rotation position of a rotor of a motor which supplies a steering force for a vehicle which is traveling according to an automatic traveling control; a vehicle traveling state determination unit 120 configured to determine the traveling state of the vehicle so as to determine whether a steering angle should be fixed when it is determined that a failure occurs in the motor position sensor; a steering angle fixing control unit 130 configured to perform a steering angle fixing control so as to fix the steering angle by controlling the driving of the motor when it is determined that it is a situation where the steering angle should be fixed; and a vehicle control unit 140 configured to determine whether a driver has a will to steer and, when it is determined that the driver has the will to steer, to to stop the steering angle fixing control and perform a control such that the vehicle travels based on the driver's steering.
  • a failure determination unit 110 configured to determine whether a failure occurs in a motor position sensor 150 that detects a rotation position of
  • the above-described automatic travel may refer to making a vehicle travel to a destination using various sensors of the vehicle and a GPS rather than relying on a driver's steering and may be understood as a general meaning that includes automatic travel in which the driver does not control steering and vehicle speed and automatic steering in which steering is automatically performed and the driver controls vehicle speed only.
  • the failure determination unit 110 may determine whether a failure occurs in a motor position sensor 150 that detects a rotation position of a rotor of a motor that supplies a steering force for a vehicle which is traveling according to an automatic traveling control. The failure determination unit 110 may determine whether the failure occurs by receiving a signal indicating whether a failure occurs from the motor position sensor 150 that measures the position of the rotor of the motor.
  • the failure determination unit 110 may determine a failure has occurred in the motor position sensor when the motor position sensor cannot detect the position of the rotor of the motor or cannot detect a positional change of the rotor even if the actual position of the rotor has changed.
  • the vehicle traveling state determination unit 120 may determine whether it is a situation where the steering angle at the time of determining the failure occurrence should be fixed based on the travel state of the vehicle.
  • the steering angle fixing control unit 130 may perform a steering angle fixing control so at to fix the steering angle to the steering angle at the time of determining the failure occurrence.
  • the steering angle fixing control unit 130 may perform the steering angle fixing control so as to fix the steering angle to a specific steering angle.
  • the steering angle fixing control unit 130 may fix the steering angle by controlling an apparatus engaged with a steering wheel or a steering shaft to fix the steering angle or by performing a control such that the rotation shaft of the motor is fixed without being rotated.
  • the vehicle control unit 140 may determine whether the driver has a will to steer, and when it is determined that the driver has the will to steer, the vehicle control unit 140 may stop the steering angle fixing control and interrupt the supply of the steering force from the motor that supplies the steering force such that the vehicle may be controlled to travel by the driver's steering.
  • FIG. 2 is a view exemplifying that the vehicle traveling state determination unit 120 according to the exemplary embodiment of the present invention receives information from sensors so as to determine whether the vehicle is being turned.
  • the vehicle traveling state determination unit 120 may determine that it is a situation where the steering angle should be fixed.
  • the vehicle traveling state determination unit 120 may determine whether the traveling vehicle is turned according to an automatic traveling control based on information input from one or more sensors selected from a lane recognition sensor 210 , a front vehicle recognition sensor 220 , a steering angle sensor 230 , and a horizontal acceleration sensor 240 .
  • the vehicle traveling state determination unit 120 may determine whether to fix the steering angle at the time of failure determination of the motor position sensor. Alternatively, the vehicle traveling state determination unit 120 may determine whether to fix the steering angle to a specific steering angle or a steering angle obtained through calculation.
  • the vehicle traveling state determination unit 120 may determine that it is a situation where the steering angle should be fixed.
  • the vehicle traveling state determination unit 120 may receive information from one or more sensors selected from the lane recognition sensor 210 configured to recognize a lane of a traveling path, the front vehicle recognition sensor 220 configured to recognize a vehicle in front and trace the movement of the vehicle in front, the steering angle sensor 230 configured to measure the steering angle of the vehicle, and the horizontal acceleration sensor 240 configured to measure a horizontal acceleration occurring during traveling of the vehicle on a curve so as to determine whether the vehicle is being turned based on the information.
  • the lane recognition sensor 210 configured to recognize a lane of a traveling path
  • the front vehicle recognition sensor 220 configured to recognize a vehicle in front and trace the movement of the vehicle in front
  • the steering angle sensor 230 configured to measure the steering angle of the vehicle
  • the horizontal acceleration sensor 240 configured to measure a horizontal acceleration occurring during traveling of the vehicle on a curve so as to determine whether the vehicle is being turned based on the information.
  • the vehicle traveling state determination unit 120 may measure a curvature of a lane based on the information input from the lane recognition sensor 210 and, when the lane has a curvature or when the measured curvature is equal to or larger than a pre-set reference value, the vehicle traveling state determination unit 120 may determine that the vehicle is being turned.
  • the vehicle traveling state determination unit 120 may receive information for the movement of the vehicle in front from the front vehicle recognition sensor 220 , and when the front vehicle is traveling on a curve, the vehicle traveling state determination unit 120 may determine that the vehicle which is traveling according to the automatic traveling control is being turned.
  • the vehicle traveling state determination unit 120 may receive steering angle information of the vehicle traveling according to the automatic traveling control, which is input from the steering angle sensor 230 , and compare the input steering angle information with a pre-set reference value. And when the input steering angle information is equal to or larger than the pre-set reference value, the vehicle traveling state determination unit 120 may determine that the vehicle is being turned.
  • the vehicle traveling state determination unit 120 may determine whether the vehicle is being turned based on information input from any one of the above-described sensors. Alternatively, the vehicle traveling state determination unit 120 may determine whether the vehicle is being turned based on all the information input from each of the sensors. Further, after determining whether the vehicle is being turned based on the information input from each sensor, the vehicle traveling state determination unit 120 may collect the information used for determination so as to finally determine that the vehicle is being turned.
  • the vehicle traveling state determination unit 120 performs a control such that the steering angle control according to the automatic traveling control is stopped to terminate the automatic traveling control as well as to interrupt supply of the auxiliary steering force from the motor or the like so that the traveling control of the vehicle may be performed by the driver's steering force and steering information.
  • FIG. 3 is a view illustrating in detail that the vehicle traveling state determination unit 120 according to the exemplary embodiment of the present invention determines whether it is a situation where the steering angle should be fixed.
  • the vehicle traveling state determination unit 120 determines whether it is the situation where the steering angle should be fixed determined based on whether the vehicle is being turned (S 320 ).
  • the vehicle traveling state determination unit 120 determines that it is the situation where the steering angle of the vehicle should be fixed, and the steering angle fixing unit 130 controls the driving of the motor such that the steering angle of the vehicle is fixed (S 330 ).
  • the vehicle traveling state determination unit 120 may determine that it is not the situation where the steering angle of the vehicle should be fixed, and perform a control to interrupt the supply of the steering force from the motor and terminate the automatic traveling control so that the traveling control of the vehicle may be performed by the driver's steering force and steering input.
  • FIGS. 4A and 4B are views exemplifying traveling of a vehicle on a curve before ( FIG. 4A ) and after ( FIG. 4B ) performing a steering angle fixing control by the steering control apparatus according to the exemplary embodiment of the present invention.
  • supply of a steering force according to the automatic traveling control may not be normally performed and vehicle tires may be aligned in the longitudinal direction of the vehicle by the restoration torque of the vehicle tires such that the vehicle goes straight without being turned, thereby causing a problem such as deviation of the traveling vehicle from the traveling path.
  • the above-described restoration torque refers to a force to make the tires be aligned in the longitudinal direction of the vehicle which is traveling on a curve due to a torque generated in a direction to reduce a slip angle around a ground contact center of each tire since a point of application of a cornering force when the tire rotates with the slip angle does not coincide with the ground contact center.
  • the steering control apparatus 100 fixes the steering angle so as to prevent straight traveling of the vehicle by the restoration torque of the tires such that the vehicle may safely travel without deviating from the traveling path until the driver performs steering.
  • the steering angle fixing control unit 130 may control the rotation shaft of the motor to be fixed so as to perform the steering angle fixing control such that the steering angle may be fixed.
  • the steering angle fixing control unit 130 may perform the steering angle fixing control such that the steering angle is fixed.
  • the steering angle fixing control unit 130 may fix the steering angle such that the steering wheel is maintained in a state where it is rotated by a predetermined portion according to, for example, a rotation radius.
  • the steering angle fixing control unit 130 may open a power supply connected to three phases of the motor that supplies a steering force for the vehicle and electrically shorts the three phases of the motor to restrain the rotation shaft of the motor such that the steering angle can be fixed.
  • FETs Field Effect Transistors
  • ground earth
  • the steering angle fixing control unit 130 turns ON the low side FETs between the motor and the ground so as to short the three phases, thereby restraining the rotation shaft of the motor to be in an electrically set-in state. As a result, the rotation shaft of the motor can be fixed.
  • FET is an example of a circuit element which may serve as a switch through turn-on and turn-off operations.
  • the low side FETs When the low side FETs are turned ON, the three phases of the motor are electrically shorted so that the rotation shaft can be fixed.
  • a reducer (constituted with a worm gear and a worm wheel and physically engaged with the rotation shaft of the motor to transfer the rotation force of the motor to the steering shaft) is also restrained and fixed so as not to be rotated. Accordingly, when the motor is fixed, the reducer is fixed and the steering shaft engaged with the reducer is also fixed. As a result, the steering angle can be fixed.
  • the foregoing descriptions may also be applied to a case where the motor supplies the steering force to a rack bar through a steering force transfer apparatus such as a belt. Even in the case in which the steering force is transferred from the motor to the rack bar, a control may be performed such that the steering angle is fixed by fixing the rotation shaft of the motor.
  • FIGS. 5A and 5B are views exemplifying that the vehicle control unit 140 according to the exemplary embodiment of the present invention determines whether a driver has a will to steer.
  • the vehicle control unit 140 may determine that the driver has a will to steer (S 510 , S 520 ). Alternatively, the vehicle control unit 140 may compare the driver's steering torque and a reference torque value. Then, when the driver's steering torque is equal to or larger than the reference torque value, the vehicle control unit 140 may determine that the driver has a will to steer (S 530 , S 520 ).
  • the vehicle control unit 140 may receive steering torque information In order to determine whether the driver has a will to steer, and when it is determined that the driver's steering torque is generated, the vehicle control unit 140 may determine that the driver has a will to steer (S 500 , S 510 , S 520 ).
  • the vehicle control unit 140 may receive an input of the driver's steering torque information and compare the driver's steering torque with a pre-set reference torque value in order to determine whether the driver has a will to steer. When the driver's steering torque is equal to or larger than the reference torque value, the vehicle control unit 140 may determine that the driver has a will to steer. When the driver's steering torque is less than the reference torque value, the vehicle control unit 140 may determine that the driver does not have the will o steer and may receive an input of a new driver's steering torque so as to repeatedly determine whether the driver has a will to steer (S 500 , S 530 , S 520 ).
  • the vehicle control unit 140 may receive an input of the driver's steering torque from a torque sensor and/or a torque angle sensor, which are capable of measuring the driver's steering torque so as to determine whether the driver has a will to steer (S 520 ).
  • the vehicle control unit 140 may compare the driver's steering torque with a pre-set reference torque and determine whether the driver has a will to steer according to the comparison result (S 530 ).
  • the reference torque value compared to the driver's steering torque so as to determine whether the driver has a will to steer may be set to a minimum steering torque value through a test or the like which enables determination as to whether the driver has a will to steer in the state where the steering angle is fixed.
  • the driver's steering torque may be measured through the torsion of a torsion bar when the driver manipulates the steering wheel to generate the steering force on the input shaft of the steering shaft.
  • a steering force supply apparatus that supplies the steering force, such as an electric steering motor, is engaged with the output shaft of the steering shaft to fix the output shaft of the steering shaft.
  • the vehicle control unit 140 may perform a control such that the traveling control according to the automatic traveling control is terminated and the vehicle travels based on the driver's steering information.
  • the vehicle control unit 140 may perform a control such that the steering angle fixing control is stopped, the steering force of the motor where the failure has occurred is interrupted to terminate the traveling control according to the automatic traveling control, and the automatic traveling state is changed to a manual traveling state in which the vehicle travels according to the driver's steering information.
  • FIG. 6 is a flowchart of a steering control method according to another exemplary embodiment of the present invention.
  • the steering control method may include: a failure determination step of determining whether a failure occurs in a motor position sensor that detects a rotation position of a rotor of a motor which supplies a steering force for a vehicle which is traveling according to an automatic traveling control (S 600 ); a vehicle traveling state determination step of determining the traveling state of the vehicle so as to determine whether it is a situation where a steering angle should be fixed when it is determined that a failure occurs in the motor position sensor (S 602 ); a steering angle fixing control step of performing a steering angle fixing control so as to fix the steering angle by controlling the driving of the motor when it is the situation where the steering angle should be fixed (S 604 ); and a vehicle control step of determining whether a driver has a will to steer and, when it is determined that the driver has the will to steer, performing a control so as to stop the steering angle fixing control such that the vehicle travels based on the driver's steering.
  • the steering control method may include determining whether a failure occurs in a motor position sensor that detects a rotation position of a rotor of a motor which supplies a steering force for a vehicle which is traveling according to an automatic traveling control (S 600 ).
  • the steering control method may include determining whether it is a situation where a steering angle should be fixed when it is determined that a failure occurs in the motor position sensor (S 602 ).
  • the steering control method may further include performing a steering angle fixing control such that the steering angle is fixed (S 604 ).
  • the steering control method may further include determining whether a driver has a will to steer and, according to the determination result, performing a control so as to stop the steering angle fixing control such that the vehicle travels based on the driver's steering (S 606 ).
  • FIG. 7 is a flowchart illustrating the steering control method according to another exemplary embodiment of the present invention in more detail.
  • failure determination step (S 600 ) it may be determined whether a failure of the motor position sensor occurs (S 700 ).
  • the vehicle traveling state determination step (S 602 ) when it is determined that the failure has occurred in the motor position sensor of the vehicle which is traveling according to the automatic traveling control, it may be determined whether it is a situation where the steering angle should be fixed (S 702 ). For example, the determination as to whether it is a situation where the steering angle should be fixed at the time of failure occurrence may be made depending on whether the vehicle is turning or not.
  • the steering angle fixing control step (S 604 ) may perform a steering angle fixing control so as to control the driving of the motor such that the steering angle is fixed (S 704 ).
  • a control may be performed such that three phases of the electric steering motor are electrically shorted to fix the rotation shaft of the motor.
  • a control may be performed such that the vehicle is traveled according to the driver's steering information (S 708 ).
  • the vehicle control step (S 606 ) in the state where the steering angle is fixed, it is determined so as to determine whether the driver has recognized that the failure of the motor position sensor has occurred and whether the driver has initiated steering so as to determine whether the driver has a will to steer (S 706 ). For example, it is possible to determine whether the driver has a will to steer may be determined based on the driver's steering torque measured by the steering torque sensor as described above (S 706 ).
  • the steering angle may be fixed and the driver's will to steer may be repeatedly checked (S 706 ).
  • the traveling control according to the automatic traveling control may be terminated and the vehicle may travel according to the driver's steering information (S 708 ).
  • supply of the steering force of the failed motor may be interrupted such that the vehicle may travel based on the driver's steering force and steering information.
  • a steering angle fixing control may be performed and, when it is determined that the driver has a will to steer, the steering angle fixing control may be stopped such that the the vehicle may be controlled to travel according to the driver's steering.
  • the steering angle may be fixed until the driver recognizes the failure and performs a steering control for the vehicle.
  • the driver's attentiveness is lowered, it is possible to prevent an accident such as deviation of the traveling vehicle from a traveling path.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
US14/288,847 2013-05-28 2014-05-28 Method and apparatus for controlling steering when failure occurs in motor position sensor Abandoned US20140358374A1 (en)

Applications Claiming Priority (2)

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KR1020130060329A KR101783075B1 (ko) 2013-05-28 2013-05-28 모터 위치 센서 고장 발생에 따른 조타 제어 방법 및 그 장치
KR10-2013-0060329 2013-05-28

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KR (1) KR101783075B1 (zh)
CN (1) CN104210542B (zh)
DE (1) DE102014007607B4 (zh)

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JP2022102741A (ja) * 2020-12-25 2022-07-07 本田技研工業株式会社 移動体

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KR102073499B1 (ko) 2016-01-13 2020-02-04 히다치 오토모티브 시스템즈 가부시키가이샤 조타 장치
JP6493272B2 (ja) * 2016-03-30 2019-04-03 株式会社デンソー 走行支援装置
JP6948429B2 (ja) * 2017-01-18 2021-10-13 本田技研工業株式会社 車両制御装置
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